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We demonstrate a dual-axis accelerometer and gyroscope atom interferometer,which forms the building blocks of a six-axis inertial measurement unit. Byrecapturing the atoms after the interferometer sequence, we maintain a largeatom number at high data-rates of 50 to 100 measurements per second. Two coldensembles are formed in trap zones located a few centimeters apart, and arelaunched toward one-another. During their ballistic trajectory, they areinterrogated with a stimulated Raman sequence, detected, and recaptured in theopposing trap zone. We achieve sensitivities at $\mathrm{\mu \mathit{g} /\sqrt{Hz}}$ and $\mathrm{\mu rad / s / \sqrt{Hz}}$ levels, making this acompelling prospect for expanding the use of atom interferometer inertialsensors beyond benign laboratory environments.

Dual-axis, high data-rate atom interferometer via cold ensemble exchange